WebEdit on GitHub MX-28AR, MX-28AT. Webopenmanipulator-p openmanipulator-x manipulator-h . : . For example, if the value is 512, it is about 50%; that means only 50% of the maximum torque will be used. , , , , m0_64890600: For example, when 10V is supplied, the data value is 100 (0x64). . . ( / ) : . U2D2. play 300 play 600 play 700. robotis dream ii. It is a moving speed to Goal Position. RH-P12-RN(A) RH-P12-RN-UR. ROBOTIS OP. : . robotis op3 robotis op robotis op2 . . 1 2 . : . github. True , False . . Generally, Max Torque of the Performance Graph is less than the Stall Torque. 7 . You need to be familiar with C/C++ programming language for right use of the . Edit on GitHub e-Manual. PLAY 300 PLAY 600 PLAY 700. The Present Position can be obtained while Multi-turn Offset and Resolution Divider are taken into account. robot hands. WebEdit on GitHub AX-12+, AX-12A. . ), : . EDUCATIONAL KITS Edit on GitHub Introduction. WebEdit on GitHub AX-12+, AX-12A. : . For example, the present speed of DYNAMIXEL is 0, and Goal Acceleration is 10. RH-P12-RN(A) RH-P12-RN-UR. play 300 play 600 play 700. robotis dream ii. (Task) . robotis op. : . turtlebot3; 1. 1 : PC R+ Task 3.0 . Place the thrust horn washer into the actuator before inserting the horn. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . play 300 play 600 play 700. robotis dream ii. The speed of DYNAMIXEL after 1 second will be 14.3 [RPM]. 3 types are available: Type A & Type B & Type C. educational kits play. level 1 level 2 level 3 level 4 level 5 school set. It is the size of the present voltage supplied. Do not operate the product at a temperature exceeding -5 ~ +80 [C] range. R+ Motion . the equipment. The OpenCM9.04s schematics and source codes are open-source. Please refer to DYNAMIXEL Protocol 1.0 for more details about Instruction Packets. ROBOTIS OP. The default Resolution Divider Value is set as 1. . This address stores model number of DYNAMIXEL. robotis op. level 1 level 2 level 3 level 4 level 5 school set. github. : , . robotis op3 robotis op robotis op2 . CW margin / CCW margin : Margin . . Any values higher than max rpm will not take effect. If those errors are detected, the Alarm LED will start blinking and the motors output will be 0 [%]. Harness Compatibility. 100 . Data with the read only property cannot be changed by the WRITE Instruction. Robot Hands. Initial value is 0 and the range is from -24,576 to 24,576. Robot Hands. robotis op. Select Restore Disk Image When resolution divider is set to a different value revolutions can increase. 1Comma Linux shell Linux linux linux , . The 10th bit becomes the direction bit to control the direction; 0 and 1,024 are equal. R+ Smart. The Performance graph is also called as N-T curves, which is measured with the gradually increasing load. 0~255, . . RC-100 : . github. educational kits play. The horn is installed on the front wheel gear serration of the DYNAMIXEL whereas the bearing set is installed on the back. : , , . robotis op. . githubpdf Linux github. NOTE: AX NOTE : Less than 3% of the baud rate error margin will not affect to UART communication. Webopenmanipulator-p openmanipulator-x manipulator-h . . Make sure that the horn washer is in place as you tighten the bolt. ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . It is the torque value of maximum output. ( ) . ), : . robot hands. R+ Task 2.0 . , : Instruction registered by REG_WRITE exists. Robot Hands. How to check whether the USB downloader(LN-101) driver is installed correctly. For more details, see Temperature Limit (11). (RoboPlus) (Task Code) . EDUCATIONAL KITS PLAY. OpenHardware. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . The Control Table has two different access properties. : 0~1023, 0 , 1023 100% . robotis op. educational kits play. NOTE: If U2D2 is unable to be detected by your computer, download the Virtual COM Port Driver to detect the FTDI devices such as the U2D2. . NOTE: PID control theory is not only limited to the control of motor(actuator) but is a generic theory that can be applied to all kinds of control. (True , False ), : . ( ) 0 ~ 2,047 (0x000 ~ 0x7FF) can be used. () . ( 0~ 1023, 0 .). Otherwise, use a Level Shifter to match the voltage of MCU. When the temperature alarm shutdown occurs, wait 20 minutes to cool the temperature before re-use. The DYNAMIXEL can protect itself by detecting dangerous situations that could occur during the operation. NOTE : The Max Torque and the Stall Torque of Performance Graph are different in measurement methods. In addition, when using Bulk Read and Sync Read instructions that requires to receive data from multiple DYNAMIXELs, relevant DYNAMIXELs should be connected to the same communication channel or else the instruction will not work properly. . . U2D2 can be connected to the USB port of the PC with the enclosed USB cable. 10 1 . ( ) . CW slope / CCW slope : Slope . Baudrate(BPS) = 2,000,000 / (Value + 1). 1 10 100, 200, 300, 400, 500, 600, 700, 800, 900, 1000 . ), otherwise, the set value in Multiturn Offset(20) and Resolution Divider(22) is ignored in different operation types. level 1 level 2 level 3 level 4 level 5 school set. 2 2 . rh-p12-rn(a) rh-p12-rn-ur. The Broadcast ID(254, 0xFE) can send an Instruction Packet to all connected DYNAMIXEL simultaneously. play 300 play 600 play 700. robotis dream ii. : . ( 0 ~ 1023, 0 . ( .tsk , R+ Task 2.0 .tskx . Disks utility is included in recent Ubuntu Desktop. robot hands. robot hands. robot hands. robotis op3 robotis op robotis op2 . play 300 play 600 play 700. robotis dream ii. WebClick CHOOSE OS. RH-P12-RN(A) RH-P12-RN-UR. . : . Webopenmanipulator-p openmanipulator-x manipulator-h . It is the present position value of DYNAMIXEL. : . & . RH-P12-RN(A) RH-P12-RN-UR. Web1: MOLEX 53253-0370 x 2(for XL-320), MOLEX 22-03-5035 x 2(for AX/MX-Series) 2: MOLEX 53253-0370 x 4(for XL-320). : True , . ROBOTIS OP. 0.512 LED . The operating voltages upper and lower bound of the DYNAMIXEL. NOTE: MX(2.0) is a special firmware for the DYNAMIXEL MX series supporting the DYNAMIXEL Protocol 2.0. If the switch is turned on, second pin of the 4Pin UART connector will be able to supply 3.3V. ; Click Use custom and select the extracted .img file from local disk. , , , . : . robot hands. RW property stands for read and write access permission while R stands for read only access permission. github. Byte Word, DWord . githubpdf Linux Minimum current to drive motor. GitHub. The MX(2.0) firmware can be upgraded from the Protocol 1.0 by using the Firmware Recovery in DYNAMIXEL Wizard 2.0 or R+ Manager. : . Download the proper Ubuntu ), MOD( % ) : . level 1 level 2 level 3 level 4 level 5 school set. RH-P12-RN(A) RH-P12-RN-UR. NOTE: Compliance has been replaced with PID Gains.. DYNAMIXEL Shield was created to use RC-100 and DYNAMIXEL on arduino board. Please check the pinout of the cable to avoid connecting to wrong pins. As the USB2Dynamixel has been discontinued, a, Alternatively, you can calibrate the DYNAMIXEL (X / MX only) using the. LED . Web1: MOLEX 53253-0370 x 2(for XL-320), MOLEX 22-03-5035 x 2(for AX/MX-Series) 2: MOLEX 53253-0370 x 4(for XL-320). Connect micro USB (connected to PC), DYNAMIXELs(OpenMANIPULATOR-X), and 12V Power to OpenCR as shown below. 0~253 (0xFD) values can be used as an ID, and 254(0xFE) is occupied as a broadcast ID. For instance, when 0x05 (binary : 00000101) is defined in Shutdown(18), DYNAMIXEL can detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary : 00000100). robotis op3 robotis op robotis op2 . ( : -20~120C), : . . . () . WebEdit on GitHub MX-28AR, MX-28AT. Robot Hands. ( . Search for Disks and launch the app. In order to operate DYNAMIXEL with SMPS2Dynamixel, please connect DYNAMIXEL to SMPS2Dynamixel, then connect SMPS to SMPS2Dynamixel as shown below image. Edit on GitHub XM430-W350. : -255~255 . EDUCATIONAL KITS PLAY. educational kits play. turtlebot3; 1. linux . Webopenmanipulator-p openmanipulator-x manipulator-h . PC( ) .tsk3 . , Love_Tttttzi: Note: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. You need to be familiar with C/C++ programming language for right use of the : . WebIf you want to operate OpenMANIPULATOR-X on embedded system (OpenCR) without ROS, please select the Arduino tab at the top of the page. (drag) . WARNING ( . ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . If it is 1023, it is about 116.62rpm. Mount Hole Depth : Valid depth 4.7mm, Depth from the surface 5.5mm. , . In order to autonomously drive a TurtleBot3 in the TurtleBot3 world, please follow the instruction below.. Terminate the turtlebot3_teleop_key node by entering Ctrl + C to . RC-100, , SW . Robot Hands. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . educational kits play. (Task) . If any values in the EEPROM area are modified by a user, modified values will be restored as initial values when the device is turned on. NOTE : Please avoid using an identical ID for multiple DYNAMIXEL. U2D2 does not supply power to DYNAMIXEL, therefore, an external power supply should provide power to DYNAMIXEL. ), , , . WebClick CHOOSE OS. ( : CM-150, OpenCM9.04, OpenCM7.0), . The ID is a unique value in the network to identify each DYNAMIXEL with an Instruction Packet. , TSK Task 2.0 1.0 . Therefore, when connecting 3Pin TTL Level DYNAMIXEL and 4Pin RS-485 DYNAMIXEL at the same time, all connected DYNAMIXEL should have its unique ID in order to prevent receiving corrupt data. :2016-12-11 07:58 (PC)(IR)1 (Command Pattern):1Command 2Receiver3Invoker LinuxLinuxwhichwhereislocatefindLinux which Python, FTP IEFTPFTPFlashFXPFTP regsvr32 c:softwareflashfxpIEFlash.dllIEFlash.dllFlashF, ProblembugBugBug NOTE: This instruction was tested on Linux with Ubuntu 18.04 and ROS1 Melodic Morenia.. Download and Install Ubuntu on PC. 1.024 . ROBOTIS OP. SMS : SMS SMS . ( : CM-200, CM-5, CM-510, CM-530, CM-700, OpenCM). : True . toc top. This switch is set to OFF as a default. ( . ( ESC) . 2.Neon Users can read a specific Data to get status of the device with Read Instruction Packets, and modify Data as well to control the device with WRITE Instruction Packets. . : . ), : . NOTE : If the Instruction Packet ID is set to the Broadcast ID(0xFE), Status Packets will not be returned for READ or WRITE Instructions regardless of the set value of Stuatus Return Level (16). thormang3. For instance, if the Return Delay Time(5) is set to 10, the Status Packet will be returned after 20[sec] when the Instruction Packet is received. That is, the 10th bit becomes the direction bit to control the direction, and 1,024 is equal to 0. RH-P12-RN(A) RH-P12-RN-UR. thormang3. . The OpenCM9.04s schematics and source codes are open-source. R+ Task 2.0 . 1.024 . The joint mode can be used to multi-joints robot since the robots can be controlled with specific angles. github. , . WebEdit on GitHub Overview DYNAMIXEL SDK. robot hands. The relationship between Compliance Slop and PID. RH-P12-RN(A) RH-P12-RN-UR. Specifications. WebROS2OpenManipulator; ROS2Open-RMF; ROS1/. Set up the Arduino IDE for OpenCR (Instructions) thormang3. The less the P gain, The larger the back lash, and the weaker the amount of output near goal position. The termination resistors at the end of transmission lines suppress such effect by adjusting impedance and allowing constant current flow. Webopenmanipulator-p openmanipulator-x manipulator-h . ( .). When it is set to 0, there is no control over acceleration and moves with the maximum acceleration of the motor. (R+ Smart, R+ IoT) . This offset value is added to the Present Position(36). Goal position command execution is completed, Goal position command execution is in progress, The value resets to 0 when it exceeds 32,767. U2D2 is a small size USB communication converter that enables to control and operate , . level 1 level 2 level 3 level 4 level 5 school set. . 5 . For more details, see Min/Max Voltage Limit (12, 13). robotis op3 robotis op robotis op2 . . NOTE 0 ~ 1,023(0x3FF) is available, and the unit is about 0.1%. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . ; Click WRITE to start burning the image. If data from more than two peripheral devices are received, the received data can be corrupted. P gain Proportional Gain , . 0~359 . 0~65535 . Specifications. robotis op3 robotis op robotis op2 . ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . Packages related to Gmapping have already been installed on PC EDUCATIONAL KITS PLAY. The picture above is the front view of DYNAMIXEL. In this case, the UART 3.3V power switch need to be turned on. . ROBOTIS OP. . 1.shell2.3.man4.shell5.awksed6.1. pythoncmdxx -hxx -p 8080python, hivehivehivehivehive. . 0 (OpenCM7.0 60 ). thormang3. : , . Never place fingers, arms, toes, and other body parts near product during operation. --------------------------------------16128bit, 1.1:1 2.VIPC. robot hands. : . U2D2 is able to connect ROBOTIS controllers that support 4Pin UART communication such as OpenCM9.04, CM-150 and CM-200 to the PC with the enclosed USB cable. ( .). THORMANG3. Note: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. e-Manual ! We provide ; Click Use custom and select the extracted .img file from local disk. Do not drop or apply strong shock to product. However, the rpm will not exceed the No Load Speed. Neon32128bit e-Manual . The recommended circuit diagram for this is shown below. --------------------------------------16128bit, https://blog.csdn.net/qq_27262241/article/details/111869192, invalid shape {1}..format(_get_tensor_name(tensor), shape_list)). WRITE Instruction Packets enable users to control the device by changing specific Data in the Control Table. This value is 10 times larger than the actual voltage. CAUTION : If Lock is set to 1, the power must be turned off and then turned on again to change into 0. ( : Ctrl + E), ( ) . WebEdit on GitHub Overview DYNAMIXEL SDK. . : , . . toc top. Webopenmanipulator-p openmanipulator-x manipulator-h . github. . Webopenmanipulator-p openmanipulator-x manipulator-h . . P gain Proportional Gain , . ( : Delete), / / . . robotis op. , . github. THORMANG3. If the operating DYNAMIXELs internal temperature is over the Temperature Limit(11), the Status Packet transmits Overheating Error Bit (Bit2) via the ERROR field. . It supports both 3Pin TTL connector and 4Pin RS-485 connector to link up with various DYNAMIXELs. Edit on GitHub XM430-W350. . robotis op3 robotis op robotis op2 . U2D2. Download the proper Ubuntu $ cd /etc/ Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. (R+Smart . . The Control Table is a structure that consists of multiple Data fields to store status or to control the device. robot hands. For a stable power supply, it is recommended to use ROBOTIS controller or SMPS2Dynamixel. . 0~255. THORMANG3. , , 0~5cm . robotis op3 robotis op robotis op2 . WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . OpenMANIPULATOR-X RM-X52-TNM is an open-hardware oriented platform . ), : , . NOTE: Although the MX-28AT (TTL) and MX-28AR (RS-485) differ in communications protocols both have the same features and perform equally. educational kits play. R+ Motion , . DYNAMIXEL Shield was created to use RC-100 and DYNAMIXEL on arduino board. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . RH-P12-RN(A) RH-P12-RN-UR. Robot Hands. ( : -20~120C, : 0~100%), : . . Users can also control it more easily by adopting the MoveIt! Never place items containing water, flammables, and solvents near product. 1.0 TSK Task 2.0 . 3 The range and the unit of the value is the same as Goal Position(30). ( 255 / .). (R+Smart .). Select the microSD card in the left panel. (R+Smart . If the Goal Position(30) is set over the CW/CCW Angle Limit(6, 8), the Status Packet transmits Angle Limit Error Bit (0x01) via its ERROR field. , . WebEdit on GitHub Overview DYNAMIXEL SDK. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. 0 to 4,095 (0xFFF) is available. WebOpenMANIPULATOR-P; OpenMANIPULATOR-X GitHub. NOTE: Compliance has been replaced with PID Gains.. , , . Data value is identical to the actual temperature in Celsius. . RH-P12-RN(A) RH-P12-RN-UR. github. thormang3. ; Click CHOOSE STORAGE and select the microSD. the equipment. robotis op. level 1 level 2 level 3 level 4 level 5 school set. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . The wheel mode can be used to wheel-type operation robots since motors of the robots spin infinitely. () . , . R+ Task 2.0 P gain / I gain / D gain : PID . RH-P12-RN(A) RH-P12-RN-UR. . If termination resistor doesnt resolve the communication issue, the resistance value might need to be adjusted. . Once error conditions are resolved and Torque Limit(34) is changed to the value other than 0, the motor can be operated again. 5 . ( ) . X series servos offer improved performance and additional features, as well as support for DYNAMIXEL Protocol 2.0.ROBOTIS recommends that new and existing AX-12 users transition to XL430-W250.. GitHub. NOTE : Wheel mode allows to check max rpm. : . U2D2 is a small size USB communication converter that enables to control and operate NOTE: Although the MX-28AT (TTL) and MX-28AR (RS-485) differ in communications protocols both have the same features and perform equally. ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . . (TTL uses 3-pin connectors while RS-485 uses 4) NOTE: MX(2.0) is a special firmware for the WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. robot hands. . play 300 play 600 play 700. robotis dream ii. OpenCM9.04 is a microcontroller board based on 32bit ARM Cortex-M3. NOTE : Although the MX-28AT (TTL) and MX-28AR (RS-485) differ in communications protocols both have the same features and perform equally. github. Edit on GitHub e-Manual. It is recommended to use it for predicting the direction and size of the force being applied to the joint. In multi-turn mode DYNAMIXEL has a range from -28,672 to 28,672 (can turn up to 7 revolutions in either CW or CCW direction). OpenHardware. Robot Hands. rh-p12-rn(a) rh-p12-rn-ur. thormang3. . toc top. robot hands. robotis op3 robotis op robotis op2 . X series servos offer improved performance and additional features, as well as support for DYNAMIXEL Protocol 2.0.ROBOTIS recommends that new and existing AX-12 users transition to XL430-W250.. WebRead more about How to run Autonomous Collision Avoidance. Any changes or modifications not expressly approved by the manufacturer could void the users authority to operate If a value in the range of 0~1023 is used, it is stopped by setting to 0 while rotating to CCW direction. toc top. toc top. educational kits play. 0 , 1~199 . toc top. The peripheral device such as controllers that can be connected to the 4Pin UART usually have an external power source, therefore additional 3.3V power from the UART port #2 pin is not necessary. 80 . . If the DYNAMIXEL receives an Instruction Packet, it will return the Status Packet after the time of the set Return Delay Time(5). DYNAMIXEL SDK is a software development kit that provides DYNAMIXEL control functions using packet communication. ls cd . Select Restore Disk Image This address stores firmware version of DYNAMIXEL. DANGER False , . On the other hand, when data is received from one of the peripheral devices(Rx), it will be automatically converted as USB communication and sent to the PC. RH-P12-RN(A) RH-P12-RN-UR. True , False . WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . Windowsdosdos Windows Edit on GitHub ROBOTIS e-Manual. . robotis op3 robotis op robotis op2 . WebEdit on GitHub . Data in the RAM Area is reset to initial values when the power is reset(Volatile). EDUCATIONAL KITS Gmapping (ROS WIKI, Github) Install dependent packages on PC. WebROS2OpenManipulator; ROS2Open-RMF; ROS1/. A DYNAMIXEL with Resolution Divider set as 2 will have a resolution 2048 for a single revolution. Is the current moving speed. # It allows the user to change DYNAMIXELs resolution. 0~255, 0.128 . NOTE: The XL430-W250 is an X series DYNAMIXEL serving as a direct replacement of the AX-12. , ( , ). play 300 play 600 play 700. robotis dream ii. Each data in the Control Table is restored to initial values when the device is turned on. GitHub. If a value is in the rage of 0 ~ 1,023 then the motor rotates to the CCW direction. USB Latency Setting. 10 . A simple collision avoidance node is prepared which keeps certain distance from obstacles and make turns to avoid collision. (RoboPlus) (Task Code) . educational kits play. rh-p12-rn(a) rh-p12-rn-ur. package. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . Please inquire us for information regarding unlisted certifications. play 300 play 600 play 700. robotis dream ii. . ( ) . 2, 3 . Join Mode, Multi-Turn mode ; Disks Utility. EDUCATIONAL KITS Edit on GitHub Introduction. Providing that Input Voltage Error Bit(0x01) flag is set in the Alarm LED(17)/Shutdown(18), the Alarm LED will start blinking and the motors output will be 0 [%]. NOTE : If Shutdown occurs, LED will flicker every second. ROBOTIS OP. ROBOTIS OP. Set the DYNAMIXELs goal position through the Goal Position(30). robotis op. 3 types are available: Type A & Type B & Type C. On the other hand, data in the EEPROM Area is maintained even when the device is powered off(Non-Volatile). (), (), (), () 0~90 . PC( ) .tskx . , . . robotis op3 robotis op robotis op2 . The following is the block-diagram for the PID controller. U2D2 does not supply power to DYNAMIXEL, therefore, an external power supply should provide power to DYNAMIXEL as below. : . Webopenmanipulator-p openmanipulator-x manipulator-h . 0~2047 (0X7FF) can be used, and the unit is about 0.114rpm. Connection. Initial Values in the RAM area are restored when the device is turned on. WebPC Setup. educational kits play. turtlebot3; 1. ), . . Providing that Overheating flag is set in the Alarm LED(17)/Shutdown(18), the Alarm LED will start blinking and the motors output will be 0 [%]. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . : . 0 to 1,023 (0x3FF) can be used, and the unit is about 0.1%. thormang3. RH-P12-RN(A) RH-P12-RN-UR. : . U2D2 is a small size USB communication converter that enables to control and operate ( 0~255 .). . OpenCM9.04 is a microcontroller board based on 32bit ARM Cortex-M3. : , . Transmission devices are designed to have certain impedances based on design standard and signal reflection or interference can occur when impedance do not match over the transmission lines. . (Task) . WebPC Setup. 0~15 . ROBOTIS OP. X series servos offer improved performance and additional features, as well as support for DYNAMIXEL Protocol 2.0.ROBOTIS recommends that new and existing AX-12 users transition to XL430-W250.. For example, if it is set to 300, it is about 34.2 rpm. ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . Cut power off if product emits strange odors or smoke. Hi, welcome to the e-Manual! LED : LED(Aux LED) . . We provide NOTE : Check the status of DYNAMIXEL by the counts of flickering LED. In multi-turn mode, the range is from -28,672 to 28,672 with unit values dependent on Resolution Divider (0.088 * Resolution Divider). LED : LED . educational kits play. ( .). $ touch file e-Manual . 0~255. RH-P12-RN(A) RH-P12-RN-UR. For data larger than 2 bytes will be saved according to Little Endian. 1.024 100 . . In case of TX_Enable_5V = High: The signal of TxD is output to D+ and D- The Stuatus Return Level (16) decides how to return Status Packet when DYNAMIXEL receives an Instruction Packet. E-Mail : E-Mail . & . The power of DYNAMIXEL is supplied via Pin1(-), Pin2(+). ( ) . CM-5, CM-510, CM-530 . ( , .). WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . ; Click WRITE to start burning the image. For more details about the PID controller, see PID Controller. Under normal circumstances this default setting is recommended, therefore, the switch cannot be accessed without opening the case. Hi, welcome to the e-Manual! . Edit on GitHub e-Manual. You may need to remove the bearing set from the previous actuator and reinstall it into the new actuator. 10 . dB 0~255 . The bearing set can also be purchased separately. 3,3 . . snpe , : DYNAMIXEL Shield was created to use RC-100 and DYNAMIXEL on arduino board. e-Manual . (The above circuit is built into DYNAMIXELs controller only) Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. RH-P12-RN(A) RH-P12-RN-UR. Robot Hands. (2bytes). ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . educational kits play. NOTE : In multi-turn mode, Present position depends on resolution divider and multi-turn offset For more information turn to the section on Multi Turn offset and Resolution Divider. -50 300 -> 400 -> 500 , 250 -> 350 -> 450 . Select the microSD card in the left panel. True LED , False LED . level 1 level 2 level 3 level 4 level 5 school set. The Size of data varies from 1 ~ 2 bytes depend on their usage. . WebIf you want to operate OpenMANIPULATOR-X on embedded system (OpenCR) without ROS, please select the Arduino tab at the top of the page. EDUCATIONAL KITS Gmapping (ROS WIKI, Github) Install dependent packages on PC. ), : . robotis op3 robotis op robotis op2 . Disks utility is included in recent Ubuntu Desktop. . When the power is turned on, Torque Limit(34) is reset to the value of Max Torque(14). If the value is 1,024~2,047, it means the load works to the CW direction. Connect micro USB (connected to PC), DYNAMIXELs(OpenMANIPULATOR-X), and 12V Power to OpenCR as shown below. robotis op. 1(1.000) . Default values in the EEPROM area are initial values of the device (factory default settings). For example, Data 1,023 (0x3FF) means that DYNAMIXEL will use 100% of the maximum torque it can produce while Data 512 (0x200) means that DYNAMIXEL will use 50% of the maximum torque. (TTS) : . , R+ Task . turtlebot3; 1. . . Robot Hands. turtlebot3; 1. For example, a DYNAMIXEL with a Real Position of 2048 with a Resolution Divider set as 4 and Multi-turn Offset as 1024 will yield a Present Position of 1535 ((2048/4) + 1024 = 1535). , / / / . . 0~255 . The range of the value is 0~4095 (0xFFF), and the unit is 0.088 []. EDUCATIONAL KITS PLAY. : . play 300 play 600 play 700. robotis dream ii. NOTE : In case of unstable communication with U2D2, check if there is a reference voltage difference in the communication. Edit on GitHub Introduction. 10 100 . The API of DYNAMIXEL SDK is designed for DYNAMIXEL actuators and DYNAMIXEL-based platforms. THORMANG3. 1 Applies to alumium housing products(MX-28AR/AT, MX-64AR/AT, MX-106R/T). 1 . ( 0~ 1023, 0 . This is generally how RC servos are measured. Robot Hands. Webopenmanipulator-p openmanipulator-x manipulator-h . rh-p12-rn(a) rh-p12-rn-ur. , , . 100 ? . If it is set to 0, it means the maximum rpm of the motor is used without controlling the speed. : . (True , False ). : . ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . Webopenmanipulator-p openmanipulator-x manipulator-h . Failing to do so might cause damages on the U2D2. robotis op3 robotis op robotis op2 . . WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . . When it is set to 254, it becomes 2,180 [ / sec2]. (True , False ), : . : . , 50 1 . . Do not connect or disconnect DYNAMIXEL when power is being supplied. ; Click CHOOSE STORAGE and select the microSD. NOTE : The Multiturn Offset(20) and Resolution Divider(22) can be applied in Munti-turn Mode only (The condition that both CW and CCW are 0, see CW/CCW Angle Limit(6, 8) for more operation types. R+ Task 2.0 . EDUCATIONAL KITS Edit on GitHub Introduction. turtlebot3; 1. . . WebThe OpenMANIPULATOR-X has full hardware compatibility with TurtleBot3 . ROBOTIS OP. 100 ? 100 . The Pinout of DYNAMIXEL may differ depending on a manufacturer of connector. github. . EDUCATIONAL KITS PLAY. level 1 level 2 level 3 level 4 level 5 school set. rh-p12-rn(a) rh-p12-rn-ur. For example, a Real Position of 2048 with a Resolution Divider set as 2 will yield a Present Position value of 1024 (2048/2 = 1024). ( : Ctrl + V), . ), : . : . It can be used from 0~254(0xFE) and the unit is approximately 8.583 [ / sec2]. play 300 play 600 play 700. robotis dream ii. There is a two-pole switch inside of the plastic cover. 3Pin TTL Level(TTL Communication supported DYNAMIXEL), Connect to DYNAMIXEL with 3Pin TTL Level Communication, Connect to DYNAMIXEL with 4Pin RS-485 Communication, Display status of Power supply, TxD(Data write) and RxD(Data Read). THORMANG3. NOTE: Compliance has been replaced with PID Gains.. educational kits play. E-Mail E-Mail . : . toc top. 0~ 254 (1) . For more details, please refer to the Status Packet section for DYNAMIXEL Protocol 1.0, Baud Rate determines serial communication speed between a controller and DYNAMIXEL. NOTE : If the Instruction Packet ID is set to the Broadcast ID(0xFE), Status Packet will not be returned for READ or WRITE Instructions regardless of Stuatus Return Level (16). It is the value of the maximum torque limit. ( 0~255 . Select the microSD card in the left panel. : . In order to autonomously drive a TurtleBot3 in the TurtleBot3 world, please follow the instruction below.. Terminate the turtlebot3_teleop_key node by entering Ctrl + C to / (True / False) . robotis op. . toc top. : . E-Mail : E-Mail . The operating temperatures upper bound of the DYNAMIXEL. Edit on GitHub ROBOTIS e-Manual. Robot Hands. thormang3. ( : Ctrl + Z), . ), : . (R+Smart .). # file touch Task . RH-P12-RN(A) RH-P12-RN-UR. Each Bit is inclusively processed with the OR logic, therefore, multiple options can be generated. thormang3. (RoboPlus) (Task Code) . Edit on GitHub Introduction. It is recommended using ROBOTIS controller or SMPS2DYNAMIXEL. CAUTION : Do not set the temperature higher than the default value. 1 2 . turtlebot3; 1. Set up the Arduino IDE for OpenCR (Instructions) WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . In case of TX_Enable_5V = Low: The signal of D+ and D- is output to RxD, Contactless absolute encoder (12Bit, 360 []), Position, Temperature, Load, Input Voltage, etc, Returns the Status Packet for PING Instruction only, Returns the Status Packet for PING and READ Instruction, Returns the Status Packet for all Instructions, Detects that undefined Instruction is transmitted or the ACTION command is delivered without the REG_WRITE command, Detects that persistent load exceeds maximum output, Detects that the Checksum of the transmitted Instruction Packet is invalid, Detects that the command is given beyond the range of usage, Detects that the internal temperature exceeds the set temperature, Detects that Goal Position is written with the value that is not between CW Angle Limit and CCW Angle Limit, Detects that input voltage exceeds the configured operating voltage. : . Please also checkout ROBOTIS Download Center for software applications, 3D/2D CAD, and other useful resources! ; Disks Utility. . The Realtime Tick(120) indicates DYNAMIXELs time. : . WebEdit on GitHub MX-28AR, MX-28AT. This is Goal Acceleration value. : (Vision) . robot hands. robotis op. For example, if it is set to 300 then the motor is moving to the CCW direction at a rate of about 34.33rpm. DYNAMIXEL with a Present position of 2,048 with an offset of 1,024 will return an adjusted Present position of 3,072. thormang3. Indicates whether the Write Instruction is registered by Reg Write Instruction. Stall torque is a measured value of the momentary torque that it can reach. ( .). . NOTE: Above circuit is designed for 5V or 5V tolerant MCU. : . package. : 0~ (Random Value) . ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . (1 : , 2 : , 3 : ), : . Upload Source code. In order to autonomously drive a TurtleBot3 in the TurtleBot3 world, please follow the instruction below.. Terminate the turtlebot3_teleop_key node by entering Ctrl + C to . robot hands. : . ( .). Select Restore Disk Image . Be careful as recommended voltage for each DYNAMIXEL could be vary by model. The range of value is from 50 to 160 and the per unit value is 0.1 [V]. Even if you do not have an actual robot, you can control the robot in the Gazebo simulator . NOTE: AX #cd Read only property(R) is generally used for measuring and monitoring purpose, and read write property(RW) is used for controlling device. 0~65535 . Webopenmanipulator-p openmanipulator-x manipulator-h . LED : LED . . level 1 level 2 level 3 level 4 level 5 school set. However, when connecting BT-410 that does not have an external power source needs to be powered by the 4Pin UART port #2 pin. When gears inside DYNAMIXEL are damaged or worn out, replace the gears in DYNAMIXEL to maintain the good condition. 0 ~ 65,535, 0.001 . robotis op. (May cause injury or damage to product), ATTENTION . : , . For instance, if the value of the Temperature Limit(11) is set as 80, it means 80 C thormang3. 6, PythonPython::. github. play 300 play 600 play 700. robotis dream ii. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . WebEdit on GitHub . ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . U2D2 is a small size USB communication converter that enables to control and operate DYNAMIXEL with PC. NOTE : This feature is available from Firmware v40. rh-p12-rn(a) rh-p12-rn-ur. . WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . Edit on GitHub Introduction. LED . GitHub. WebOpenMANIPULATOR-P; OpenMANIPULATOR-X GitHub. , . The Address is a unique value when accessing a specific Data in the Control Table with Instruction Packets. WebROS2OpenManipulator; ROS2Open-RMF; ROS1/. NOTE: The XL430-W250 is an X series DYNAMIXEL serving as a direct replacement of the AX-12. -> . thormang3. level 1 level 2 level 3 level 4 level 5 school set. ; Disks Utility. rh-p12-rn(a) rh-p12-rn-ur. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . Search for Disks and launch the app. OpenCM485 EXP board will bypass the input power source to output power. Calibrate the DYNAMIXEL after the gear replacement to arrange the gears in the right position. : . OpenMANIPULATOR-X RM-X52-TNM is an open-hardware oriented platform . Neon32128bit , . U2D2. The API of DYNAMIXEL SDK is designed for DYNAMIXEL actuators and DYNAMIXEL-based platforms. . rh-p12-rn(a) rh-p12-rn-ur. WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. ROBOTIS OP. level 1 level 2 level 3 level 4 level 5 school set. 3 types are available: Type A & Type B & Type C. Wheel Mode 2 Do not insert sharp blades nor pins during product operation. toc top. : . Keep using the product when the temperature is high can cause severe damage. Packages related to Gmapping have already been installed on PC thormang3. Webopenmanipulator-p openmanipulator-x manipulator-h . , R+ Task(RoboPlus Task) . (R+Smart . : . rh-p12-rn(a) rh-p12-rn-ur. We provide 1 X, 2.Neon : . package. e-Manual ! 1 2 . 2,3 4,3 . . Edit on GitHub XM430-W350. For example, the value is 512, it means the load is detected in the direction of CCW about 50% of the maximum torque. robot hands. R+ Task 2.0 P gain / I gain / D gain : PID . WebThe OpenMANIPULATOR-X has full hardware compatibility with TurtleBot3 . : . Hi, welcome to the e-Manual! OpenHardware. RH-P12-RN(A) RH-P12-RN-UR. RH-P12-RN(A) RH-P12-RN-UR. 0~5 , . . . linuxmkdirmkdir [OPTION] DIRECTORYmkdir -p /tmp/x/y/z//mkdir -pv /tmp/x/y/z//rmdirrmdir [OPTION] DIR UNIXLinuxWindowsUNIXUNIXWindow linux 2 : . ), : . NOTE : If the function of Alarm LED(17)/Shutdown(18) is triggered, the motor loses its torque because Torque Limit(34) becomes 0. WebIf you want to operate OpenMANIPULATOR-X on embedded system (OpenCR) without ROS, please select the Arduino tab at the top of the page. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . Specifications. : CW(Clock Wise : ), CCW(Counter Clock Wise : ). (TTL uses 3-pin connectors while RS-485 uses 4) NOTE: MX(2.0) is a special firmware for the In the case, providing that Angle Limit Error Bit(0x01) in Alarm LED/Shutdown is set, the Alarm LED will start blinking and the motors output will be 0 [%]. . . THORMANG3. Connection. WebOpenMANIPULATOR-P; OpenMANIPULATOR-X GitHub. GitHub. play 300 play 600 play 700. robotis dream ii. Robot Hands. The value unit is about 0.11rpm. , . https://zhuanlan.zhihu.com/p/53525386, CreaterLL: Robot Hands. (Task) . robotis op3 robotis op robotis op2 . Set up the Arduino IDE for OpenCR (Instructions) githubpdf Linux Once alignment is properly done, gently push the center of the horn toward the actuator. When data is transmitted from the USB port in PC to peripheral devices(Tx), all connected device will receive an identical data. In order to read or write data, users must designate a specific Address in the Instruction Packet. / : . PLAY 300 PLAY 600 PLAY 700. NOTE : CCW Load : Load Direction = 0, CW Load : Load Direction = 1. : . The Control Table is a structure of data implemented in the device. , , , . Multi-turn mode allows joint mode control over multiple rotations (Position range : -28,672 ~ 28,672). THORMANG3. Do not apply this instruction to your TurtleBot3. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . That is, the 10th bit becomes the direction bit to control the direction. 0~1023. robotis op. You need to be familiar with C/C++ programming language for right use of the When connecting cable to DYNAMIXEL, please turn off the power. The API of DYNAMIXEL SDK is designed for DYNAMIXEL actuators and DYNAMIXEL-based platforms. 0~65535 . NOTE : Present load is an inferred value based on the internal output value; not a measured value using torque sensor, etc. During this process, received data will not be transmitted to other peripheral devices. github. Robot Hands. Search for Disks and launch the app. You must carefully align the horn to the wheel gear serration by aligning dots. robotis op. : . So it is obvious if you see the difference in terms of motion. : , . If a value is in the rage of 1,024 ~ 2,047 then the motor rotates to the CW direction. Available value range is 0 ~ 254(0xFE), and below is the equation for BPS calculation. WebRead more about How to run Autonomous Collision Avoidance. NOTE : Less than 3% of the baud rate error will not affect to the UART communication. github. See the following video on how to replace the gears properly. Disks utility is included in recent Ubuntu Desktop. (R+ Smart, R+ IoT) , . The range of the value is 0~2047, and the unit is about 0.1%. P gain / I gain / D gain : PID . toc top. Please refer to e-Manual for recommended supply voltage and power connection with various power supplies. DYNAMIXEL SDK is a software development kit that provides DYNAMIXEL control functions using packet communication. WebThe OpenMANIPULATOR-X has full hardware compatibility with TurtleBot3 . rh-p12-rn(a) rh-p12-rn-ur. P gain Proportional Gain , . turtlebot3; 1. NOTE: AX PC( ) .mtn3 . . toc top. At some extent, it is like a combined concept of margine and slope. educational kits play. For this reason, the performance graph is broadly used in the industrial field. play 300 play 600 play 700. robotis dream ii. P gain Proportional Gain , . ID : ID . level 1 level 2 level 3 level 4 level 5 school set. Please inquire us for information regarding unlisted certifications. WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. Users can also control it more easily by adopting the MoveIt! DYNAMIXEL SDK is a software development kit that provides DYNAMIXEL control functions using packet communication. (Task) . rh-p12-rn(a) rh-p12-rn-ur. ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . Download the proper Ubuntu Robot Hands. THORMANG3. WebEdit on GitHub . level 1 level 2 level 3 level 4 level 5 school set. Do not apply this instruction to your TurtleBot3. (TTL uses 3-pin connectors while RS-485 uses 4). These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . . I gain Integral Gain , D gain Derivative Gain . Upload Source code. turtlebot3; 1. robotis op. . OpenCM9.04 is a microcontroller board based on 32bit ARM Cortex-M3. Webopenmanipulator-p openmanipulator-x manipulator-h . toc top. Packages related to Gmapping have already been installed on PC Even if you do not have an actual robot, you can control the robot in the Gazebo simulator . THORMANG3. Users can also control it more easily by adopting the MoveIt! PLAY 300 PLAY 600 PLAY 700. The Control Table is divided into 2 Areas. Please compare operating voltage of DYNAMIXEL with battery or 12V 5A ROBOTIS SMPS before supplying power. To control the DYNAMIXEL actuators, the main controller needs to convert its UART signals to the half duplex type. (TTL uses 3-pin connectors while RS-485 uses 4) NOTE: MX(2.0) is a special firmware for the rh-p12-rn(a) rh-p12-rn-ur. WARNING ( + ), ( - ), ( * ), ( / ), MOD(%), AND( & ), OR( | ) . $ pwd NOTE : For the stable communication with higher baudrate, configure USB Latency value to the lower. educational kits play. The angle limit allows the motion to be restrained. Therefore, it may be inaccurate for measuring weight or torque. : . toc top. True , False . (R+Smart .). WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . rh-p12-rn(a) rh-p12-rn-ur. : . Web1: MOLEX 53253-0370 x 2(for XL-320), MOLEX 22-03-5035 x 2(for AX/MX-Series) 2: MOLEX 53253-0370 x 4(for XL-320). NOTE: This instruction was tested on Linux with Ubuntu 18.04 and ROS1 Melodic Morenia.. Download and Install Ubuntu on PC. ( : Ctrl + C, Ctrl + X), . SMS : SMS SMS . For instance, if the value of the Max Voltage Limit(13) is set as 80, it means 8 V. 0 ~ 4294967295 . WARNING : For MX-28(2.0) Protocol, please refer to the MX-28(2.0) Control Table as they are different. (True RGB LED , False RGB LED ). OpenMANIPULATOR-X RM-X52-TNM is an open-hardware oriented platform . If a value in the range of 1024~2047 is used, it is stopped by setting to 1024 while rotating to CW direction. In order to operate DYNAMIXEL with OpenCM 485 Expansion board, please connect DYNAMIXEL to OpenCM485 Exp board, then connect battery or SMPS to the expansion board as shown below image. NOTE : In multi-turn mode, Twos complement is applied for the negative value. ; Click CHOOSE STORAGE and select the microSD. (1~7) : / . Check the powers polarity before wiring. . . . NOTE : If ACTION instruction is executed, the Registered Instruction (44) will be changed to 0. If the value is 0~1,023, it means the load works to the CCW direction. Webopenmanipulator-p openmanipulator-x manipulator-h . Connect micro USB (connected to PC), DYNAMIXELs(OpenMANIPULATOR-X), and 12V Power to OpenCR as shown below. (May cause injury or damage to product). However, the termination resistor is not a mandatory, especially in a short RS-485 network with lower communication baud rate. , . 0 . level 1 level 2 level 3 level 4 level 5 school set. : , . For example, if the data value is 85 (0x55), the current internal temperature is 85C. 1, 2, . , . , , . (, , ) . toc top. Please check PC and other devices are grounded properly. When resolution is lowered, revolutions (in both directions) can be increased (up to 28 turns in each direction). WebOpenMANIPULATOR-P OpenMANIPULATOR-X Manipulator-H . , . (Task Code) . toc top. . 0.8 0 . . 100 ? 50 ? . It is a moving speed to Goal direction. When the power is turned on, Torque Limit(34) is reset to the value of Max Torque(14). 0~1023 (0X3FF) can be used, and the unit is about 0.114rpm. thormang3. USB Latency Setting. The regular 120 termination resistor will be applied on the transmission line by shifting the switch to ON. LED : LED . Please open the case and set RS-485 termination resistor and UART 3.3V power switch only after thoroughly understand its usage. A simple collision avoidance node is prepared which keeps certain distance from obstacles and make turns to avoid collision. NOTE : Compliance has been replaced with PID Gains. (May cause serious injury or death), CAUTION ( : Insert). Robot Hands. In order to operate DYNAMIXEL with Power Supply, please configure the power supply for DYNAMIXEL before connecting cable. In the above circuit diagram, the direction of data signal of TxD and RxD in the TTL Level is determined according to the level of TX_Enable_5V as follows: A simple collision avoidance node is prepared which keeps certain distance from obstacles and make turns to avoid collision. Robot Hands. LED . ( : Ctrl + Shift + Z). WebClick CHOOSE OS. () 1 . . EDUCATIONAL KITS PLAY. 10 : SMS , ( : 512), : . Note that the range of values is 0 to 254 (0XFE) and its unit is 2 [sec]. As bearing set is rotating freely, therefore alignment is not required when assembling to DYNAMIXEL. Edit on GitHub ROBOTIS e-Manual. (BT-110, BT-210, BT-410), . . educational kits play. . It is the internal temperature of DYNAMIXEL in Celsius. robotis op3 robotis op robotis op2 . ; Click WRITE to start burning the image. The unit is 0.088 []. : True, False . ROBOTIS OP. , , , . e-Manual ! GitHub. NOTE: The XL430-W250 is an X series DYNAMIXEL serving as a direct replacement of the AX-12. Please compare operating voltage of DYNAMIXEL with 12V 5A ROBOTIS SMPS before supplying power. thormang3. : . THORMANG3. Users can check current status of the device by reading a specific Data from the Control Table with Read Instruction Packets. Webopenmanipulator-p openmanipulator-x manipulator-h . For more details, please refer to the Status Packet section for DYNAMIXEL Protocol 1.0. ROBOTIS OP. The actual motor operation environment is closer to the performance graph, not stall torque method. 4 ROBOTIS OP3 ROBOTIS OP ROBOTIS OP2 . The followings are detectable situations. NOTE : If it is set to Wheel Mode, Goal Position value is not used. Compatibility Guide The OpenCM9.04s schematics and source codes are open-source. . , , , . NOTE: This instruction was tested on Linux with Ubuntu 18.04 and ROS1 Melodic Morenia.. Download and Install Ubuntu on PC. WebRead more about How to run Autonomous Collision Avoidance. NOTE: Although the MX-28AT (TTL) and MX-28AR (RS-485) differ in communications protocols both have the same features and perform equally. . WebPC Setup. THORMANG3. Please check the size of data when updating the data with an Instruction Packet. If communication is suffering from frequent errors, the termination resistor might be required. It means currently applied load. . github. It does not exactly match the previous concept of compliance. ( Task .). play 300 play 600 play 700. robotis dream ii. This value ranges from 0x20 to 0x3FF. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. 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